#  Bill of Materials 

 



 ##  

  expand\_more  

 
  

 

#### Consumable Materials

Sort**Name**

**Quantity**

**Image**

**Purchase Link**

**(Notes)**

EcoFlex™ 00-50 Silicone

~ 10 grams of silicone per actuator

   ![EcoFlex™ 00-50 Silicone](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%284%29_0.png?itok=WVP_OD7e) 

 



[EcoFlex™](/https:/www.amazon.com/Smooth-Ecoflex-00-50-Platinum-Silicone/dp/B00GJ80HIC)

**We recommend purchasing more silicone than is needed, as it allows for more iteration on the design.**

Disposable Dixie Cups

Three (3) per actuator

   ![Disposable Dixie Cups](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%285%29_0.png?itok=lRmxb4Z-) 

 



[Dixie Cups](/https:/www.amazon.com/Dixie-Bath-Coordinating-Designs-Count/dp/B0025WEF1Q/ref=sr_1_1_s_it?s=hpc&ie=UTF8&qid=1528691992&sr=1-1&keywords=dixie%20bath%20cups)

 

Wooden Stirring Rods

One (1) per actuator

   ![Wooden Stirring Rods](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%286%29_0.png?itok=3IHVg4pe) 

 



[Stirring Rods](/https:/www.amazon.com/Royal-Count-Coffee-Beverage-Stirrers/dp/B001FVPAOE/ref=sr_1_3?s=industrial&ie=UTF8&qid=1528692248&sr=1-3&keywords=stirring%20stick)

 

Thin Cotton Craft Fabric

Two (2) rectangular 45" by 0.75" sheets per actuator

   ![Thin Cotton Craft Fabric](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%287%29_0.png?itok=c_GFOFhu) 

 



[Craft Fabric](/https:/www.amazon.com/Fabric-Editions-Craft-45-Inch-White/dp/B00167YJVC/ref=sr_1_9?s=arts-crafts&ie=UTF8&qid=1528722483&sr=1-9&keywords=white%20fabric)

**Any relatively thin craft fabric will be sufficient**

Disposable Pipettes

Two (2) per actuator

   ![Disposable Pipettes](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%288%29_0.png?itok=3GlaRnNQ) 

 



[Pipettes](/https:/www.amazon.com/Teenitor-Disposable-Pipettes-Transfer-Essential/dp/B071JXVGNK/ref=sr_1_1_sspa?ie=UTF8&qid=1528698005&sr=8-1-spons&keywords=pipette&psc=1)

**These pipettes will be used to either inject acetone into an actuator made with a polystyrene insert or to funnel hot water into an actuator made with a PVA insert.**

1,000 mL beaker

One (1)

   ![1,000 mL beaker](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%289%29_0.png?itok=eEMri3WW) 

 



[Beaker](/https:/www.amazon.com/Pyrex-Glass-Griffin-Beaker-Measuring/dp/B005MIQ7QG/ref=sr_1_6?s=industrial&ie=UTF8&qid=1528692680&sr=1-6&keywords=beaker)

**PVA Insert Only**

**Any size beaker will be sufficient, but make sure that your actuator will fit inside.**



Polyvinyl Alcohol (PVA) Filament

~2.2 grams per actuator

   ![Polyvinyl Alcohol (PVA) Filament](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2810%29_0.png?itok=PAaEZZ6n) 

 



[PVA Filament](/https:/www.matterhackers.com/store/3d-printer-filament/175mm-pva-filament-half-kg)

**PVA Insert Only**

**Be sure to store this filament in a dry location before printing. PVA is** ***hygroscopic*****, meaning that it can absorb moisture from the atmosphere, which will effect print quality.**



Acetone (Nail Polish Remover)

~ 20 mL per actuator

   ![Acetone (Nail Polish Remover)](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2811%29.png?itok=DQoqPH9o) 

 



[Acetone](/https:/www.amazon.com/Super-Nail-Acetone-Polish-Remover/dp/B0034D3HIM/ref=sr_1_5_s_it?s=beauty&ie=UTF8&qid=1528692545&sr=1-5&keywords=acetone&dpID=41IQzRCIMVL&preST=_SY300_QL70_&dpSrc=srch)

**Polystyrene Insert Only**

**Any household nail polish remover will be sufficient.**







#### Scientific Tools / Instruments Used

Sort**Name**

**Quantity**

**Image**

**Purchase Link**

**(Notes)**

Craft Knife

One (1)

   ![Craft Knife](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2812%29.png?itok=UuX-hmHO) 

 



[Craft Knife](/https:/www.amazon.com/Tape-King-Utility-12-Pack-Cutters/dp/B074ZS7C9Z/ref=sr_1_2?s=industrial&ie=UTF8&qid=1528724626&sr=1-2&keywords=craft%20box%20cutter)

**Any craft knife (such as a small box cutter or X-ACTO knife) will be sufficient.**



Electronic Balance / Scale

One (1)

   ![Electronic Balance / Scale](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2813%29.png?itok=_JhgYSDU) 

 



[Balance](/https:/www.amazon.com/Ohaus-SP2001-Portable-Balances-Readability/dp/B00068FPPG)

**Use the balance to weigh the proper proportions of your silicone mixture**



PrintrBot Simple 3D-Printer

One (1)

   ![PrintrBot Simple 3D-Printer](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2814%29.png?itok=bdoQ6oQ7) 

 



[3D Printer](/https:/printrbot.com/shop/simple-v2/)

**Use a 3D printer to print out the provided** [Base and Insert molds](https://drive.google.com/drive/folders/1GoJlUAaP77lazRtF8RVsKI8MjzxGm3Kd?usp=sharing)**. Our team used a PrintrBot, but any 3D-Printer with a large enough build volume will be sufficient**



Hot Plate

One (1)

   ![Hot Plate](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2815%29.png?itok=9z5gGNoD) 

 



[Hot Plate](/https:/www.amazon.com/Corning-6795-400D-PC-400D-Digital-Pyroceram/dp/B004DGID7Y/ref=sr_1_13?s=industrial&ie=UTF8&qid=1528693568&sr=1-13&keywords=hot%20plate)

**PVA Insert Only**

**You can use the hot plate to dissolve the PVA Inserts inside your actuators.**

**Alternatively, if you do not have access to a hot plate, a standard kitchen stove works just as well.**







###### Electronic and Pneumatic Componenets

See the [Soft Robotics Toolkit](/book/controlboard-bom) for more information regarding the Fluidic Control Board

Sort**Name**

**Quantity**

**Image**

**Purchase Link**

**(Notes)**

Arduino Mega Development Board

One (1)

   ![Arduino Mega Development Board](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2816%29.png?itok=UlwTODHx) 

 



[Arduino](/https:/www.amazon.com/keyestudio-development-board-cable-Arduino/dp/B016JWNYBE)

**Any Arduino Development board with a 5V Output and PWM ports will be sufficient**



Power Supply

Three (3)

   ![Power Supply](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2817%29.png?itok=5bzOX2_Q) 

 



[Power Supply](/http:/www.kitsusa.net/phpstore/html/PS-28-SWITCHABLE-2-AMPS-REGULATED-DC-POWER-SUPPLY-836.html)

**Any power supply capable of supplying up to 12 Volts is sufficient. Ours have a current output of 2A, but you can customize your control board with whatever you have available.**

MOSFET 4 v04

One (1)

   ![MOSFET 4 v04](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2818%29.png?itok=r8BIUxvD) 

 



[MOSFET Board](/http:/yourduino.com/sunshop//index.php?l=product_detail&p=60)

 

Solenoid Valve

Four (4)

   ![Solenoid Valve](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2819%29.png?itok=1b7Hkh5F) 

 



[Solenoid](/https:/smcpneumaticsdistributor.com/smc-part-1010/VQ110U-5M.html)

 

Pressure Splitter Manifold

One (1)

   ![Pressure Splitter Manifold](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2820%29.png?itok=SJAG0pDn) 

 



[Splitter Manifold](/http:/www.smcpneumatics.com/VV3Q12U-0401N.html)

 

Voltage Monitor

Two (2)

   ![Voltage Monitor](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2821%29.png?itok=PRkHV_aA) 

 



[Voltage Monitor](/http:/www.prodctodc.com/blue-525v-to-0525v-dc-boostbuck-converter-2a-step-up-down-voltage-regulator-p-432.html#.U7xKEPldXh6)

 

Power Switch

One (1)

   ![Power Switch](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2822%29.png?itok=J66Zv8A8) 

 



[Power Switch](/https:/www.amazon.com/SPST-Light-duty-Toggle-Switch/dp/B001TJ0ZAG/ref=sr_1_14?ie=UTF8&qid=1357685757&sr=8-14&keywords=switches)

 

LCD Debugging Screen

One (1)

   ![LCD Debugging Screen](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2823%29.png?itok=0KpKuY5C) 

 



[LCD Screen](/https:/www.sparkfun.com/products/709?_ga=2.254015496.1815163756.1528703111-1767392723.1528703111)

**Use this screen alongside our provided** [code](https://github.com/bramscho/Soft-Robotics) **for debugging and menu selection.**



Breadboard Jumper Wires

~50

   ![Breadboard Jumper Wires](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2824%29.png?itok=vfsNzd7x) 

 



[Jumper Wires](/https:/www.amazon.com/Solderless-Flexible-Breadboard-Jumper-100pcs/dp/B005TZJ0AM/ref=sr_1_19?ie=UTF8&qid=1528694547&sr=8-19&keywords=electronics%20breadboard)

**Depending on the setup of your breadboard, you may need mores or fewer jumper wires.**

Small Breadboard

Three (3)

   ![Small Breadboard](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2825%29.png?itok=04BqMOTI) 

 



[Breadboard](/https:/www.adafruit.com/product/65)

**The breadboard setup can be customized to the student's preference, but we used small breadboards such as this one.**



Pressure Sensor

One (1)

   ![Pressure Sensor](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2826%29.png?itok=KpFNByKy) 

 



[Pressure Sensor](/https:/www.robotshop.com/en/lynxmotion-fsr-01-force-sensing-resistor-kit.html)

**Use this sensor to create a glove that can record pressure data when throwing a pot**



Pressure Regulator

Two (2)

   ![Pressure Regulator](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2827%29.png?itok=2UHZ6o2T) 

 



[Pressure Regulator](/http:/www.smcpneumatics.com/ITV1031-21N2BL4.html)

 

Polyester Glove

One (1)

   ![Polyester Glove](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2828%29.png?itok=rK7AxEhC) 

 



[Glove](/https:/www.amazon.com/gp/product/B01AYXDX60/ref=s9_acsd_hps_bw_c_x_1_w)

**Use this in the process of creating the pressure sensing glove**



**⅛”** Outer Diameter Pneumatic Tubing



~1 meter used throughout the control board

   ![Outer Diameter Pneumatic Tubing](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/2025-05/unnamed%20%2829%29.png?itok=C_ZfRbny) 

 



[⅛” Tubing](/https:/www.grainger.com/product/TYGOTHANE-100-ft-Tygothane-2LRE1)

**Use this tubing at your own discretion. Keep in mind that increasing the length of the tube between the pump and the actuator may cause inconsistencies with the pressure outputted.**







For a list of necessary materials in spreadsheet format, please see this [link](https://docs.google.com/spreadsheets/d/1GJ8r0MBzg8JiWcH0S2XkJV2Ey8r4_-f_wMZxHi4xzDQ/edit#gid=0%C2%A0).

 ![Haverford Soft Robotics 2018](/sites/g/files/omnuum4601/files/srtsandbox/files/haverford_soft_robotics_footer.png)